In this chapter, we have studied LFM waveform compression using correlation and stretch techniques. We then studied the basic FMCW radar theory and equations. We have also studied the effect of target Doppler on radar performance and how to measure it. We have then investigated the factors affecting range resolution like sweep times and beat frequency resolution. In particular, we have investigated problems like target return spectral width and receiver frequency resolution, which play such a key role in determining the beat frequency resolution which lead to our final receiver range bin resolution. Finally, through worked examples we investigated the problems pertaining to non-linearities and its control. In this process, we have investigated the trade-offs one needs to make between controlling the level (percentage) of non-linearities and the receiver frequency resolution leading to the final beat frequency resolution. This needs to be done without an excessive instrumented range in the radar. We shall use all this knowledge in Part III when we design the Pandora radar. We concluded this chapter by studying an interesting example of what can be achieved with FMCW technology in the area of antitank missiles.